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<div class="title">octree_pointcloud_compression.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef OCTREE_COMPRESSION_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define OCTREE_COMPRESSION_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree2buf_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &quot;entropy_range_coder.h&quot;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;color_coding.h&quot;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;point_coding.h&quot;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;compression_profiles.h&quot;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;iterator&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">using namespace </span>pcl::octree;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> LeafT = <a class="code" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a>,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typename</span> BranchT = <a class="code" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a>,</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typename</span> OctreeT = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase&lt;LeafT, BranchT&gt;</a> &gt;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">   74</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">OctreePointCloudCompression</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;PointT, LeafT,</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        BranchT, OctreeT&gt;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">OctreePointCloud&lt;PointT, LeafT, BranchT, OctreeT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafT, BranchT, OctreeT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafT, BranchT, OctreeT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;OctreePointCloudCompression&lt;PointT, LeafT, BranchT, OctreeT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const OctreePointCloudCompression&lt;PointT, LeafT, BranchT, OctreeT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeT::LeafNode</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">OctreeT::BranchNode</a> <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">OctreePointCloudCompression&lt;PointT, LeafT, BranchT, Octree2BufBase&lt;LeafT, BranchT&gt;</a> &gt; <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">RealTimeStreamCompression</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">OctreePointCloudCompression&lt;PointT, LeafT, BranchT, OctreeBase&lt;LeafT, BranchT&gt;</a> &gt; <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">SinglePointCloudCompressionLowMemory</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aac470a2ddbd1f3ddaa4b6f5eeb399f61">  104</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aac470a2ddbd1f3ddaa4b6f5eeb399f61">OctreePointCloudCompression</a> (compression_Profiles_e compressionProfile_arg = MED_RES_ONLINE_COMPRESSION_WITH_COLOR,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                               <span class="keywordtype">bool</span> showStatistics_arg = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                               <span class="keyword">const</span> <span class="keywordtype">double</span> pointResolution_arg = 0.001,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                               <span class="keyword">const</span> <span class="keywordtype">double</span> octreeResolution_arg = 0.01,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                               <span class="keywordtype">bool</span> doVoxelGridDownDownSampling_arg = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                               <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> iFrameRate_arg = 30,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                               <span class="keywordtype">bool</span> doColorEncoding_arg = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                               <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> colorBitResolution_arg = 6) :</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafT, BranchT, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a>&gt; (octreeResolution_arg),</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          output_ (PointCloudPtr ()),</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          binary_tree_data_vector_ (),</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          binary_color_tree_vector_ (),</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          point_count_data_vector_ (),</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          point_count_data_vector_iterator_ (),</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          color_coder_ (),</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          point_coder_ (),</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          entropy_coder_ (),</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          do_voxel_grid_enDecoding_ (doVoxelGridDownDownSampling_arg), i_frame_rate_ (iFrameRate_arg),</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          i_frame_counter_ (0), frame_ID_ (0), point_count_ (0), i_frame_ (true),</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          do_color_encoding_ (doColorEncoding_arg), cloud_with_color_ (false), data_with_color_ (false),</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          point_color_offset_ (0), b_show_statistics_ (showStatistics_arg), </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          compressed_point_data_len_ (), compressed_color_data_len_ (), selected_profile_(compressionProfile_arg),</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          point_resolution_(pointResolution_arg), octree_resolution_(octreeResolution_arg),</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          color_bit_resolution_(colorBitResolution_arg),</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          object_count_(0)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          initialization();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a666bcd6d5523a142041f8dab068014b3">  135</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a666bcd6d5523a142041f8dab068014b3">~OctreePointCloudCompression</a> ()</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ab3343a4cfc17fb5c3bbf03553c3c62f4">  140</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ab3343a4cfc17fb5c3bbf03553c3c62f4">initialization</a> () {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="keywordflow">if</span> (selected_profile_ != MANUAL_CONFIGURATION)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            <span class="comment">// apply selected compression profile</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            <span class="comment">// retrieve profile settings</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1io_1_1configuration_profile__t.html">configurationProfile_t</a> selectedProfile = compressionProfiles_[selected_profile_];</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="comment">// apply profile settings</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            i_frame_rate_ = selectedProfile.iFrameRate;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            do_voxel_grid_enDecoding_ = selectedProfile.doVoxelGridDownSampling;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            this-&gt;setResolution (selectedProfile.octreeResolution);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            point_coder_.setPrecision (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (selectedProfile.pointResolution));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            do_color_encoding_ = selectedProfile.doColorEncoding;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            color_coder_.setBitDepth (selectedProfile.colorBitResolution);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            <span class="comment">// configure point &amp; color coder</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            point_coder_.setPrecision (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_resolution_));</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            color_coder_.setBitDepth (color_bit_resolution_);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="keywordflow">if</span> (point_coder_.getPrecision () == this-&gt;getResolution ())</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="comment">//disable differential point colding</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            do_voxel_grid_enDecoding_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#af57e000fea506a493bcd7ead63b9e1ea">  174</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#af57e000fea506a493bcd7ead63b9e1ea">addPointIdx</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pointIdx_arg)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          ++object_count_;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">OctreePointCloud&lt;PointT, LeafT, BranchT, OctreeT&gt;::addPointIdx</a>(pointIdx_arg);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a8c67c92f45645e9feaa9908b7a6854ef">  184</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a8c67c92f45645e9feaa9908b7a6854ef">setOutputCloud</a> (<span class="keyword">const</span> PointCloudPtr &amp;cloud_arg)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">if</span> (output_ != cloud_arg)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            output_ = cloud_arg;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keyword">inline</span> PointCloudPtr</div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aa1d2c2bba05c7fab6e75d4cf2a45e33b">  196</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aa1d2c2bba05c7fab6e75d4cf2a45e33b">getOutputCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordflow">return</span> (output_);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        encodePointCloud (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud_arg, std::ostream&amp; compressed_tree_data_out_arg);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        decodePointCloud (std::istream&amp; compressed_tree_data_in_arg, PointCloudPtr &amp;cloud_arg);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        writeFrameHeader (std::ostream&amp; compressed_tree_data_out_arg);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        readFrameHeader (std::istream&amp; compressed_tree_data_in_arg);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        syncToHeader (std::istream&amp; compressed_tree_data_in_arg);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        entropyEncoding (std::ostream&amp; compressed_tree_data_out_arg);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        entropyDecoding (std::istream&amp; compressed_tree_data_in_arg);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        serializeTreeCallback (LeafT &amp;leaf_arg, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="comment">// param leaf_arg reference to new leaf node</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        deserializeTreeCallback (LeafT&amp;, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ac72607ca04e1885ab9bf65e7f3f49477">  263</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ac72607ca04e1885ab9bf65e7f3f49477">output_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aae26463a7465be923d0987a6ad284a2f">  266</a></span>&#160;        std::vector&lt;char&gt; <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aae26463a7465be923d0987a6ad284a2f">binary_tree_data_vector_</a>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a7e5b472065093162cae1062823732243">  269</a></span>&#160;        std::vector&lt;char&gt; <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a7e5b472065093162cae1062823732243">binary_color_tree_vector_</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aca78c8958023c1ae49b026eb0f5bcdf6">  272</a></span>&#160;        std::vector&lt;unsigned int&gt; <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aca78c8958023c1ae49b026eb0f5bcdf6">point_count_data_vector_</a>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a60c04620fae807dbddd76895124a9eb5">  275</a></span>&#160;        std::vector&lt;unsigned int&gt;::const_iterator <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a60c04620fae807dbddd76895124a9eb5">point_count_data_vector_iterator_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a210c9aa011e8797616c0548aa094612f">  278</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_color_coding.html">ColorCoding&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a210c9aa011e8797616c0548aa094612f">color_coder_</a>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a665e46fd9b12feb9b42e44d9275d3ee0">  281</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html">PointCoding&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a665e46fd9b12feb9b42e44d9275d3ee0">point_coder_</a>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a845ff8a27ce8f59b5d8ae73b0f2c1b74">  284</a></span>&#160;        <a class="code" href="classpcl_1_1_static_range_coder.html">StaticRangeCoder</a> <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a845ff8a27ce8f59b5d8ae73b0f2c1b74">entropy_coder_</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="keywordtype">bool</span> do_voxel_grid_enDecoding_;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        uint32_t i_frame_rate_;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        uint32_t i_frame_counter_;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        uint32_t frame_ID_;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        uint64_t point_count_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">bool</span> i_frame_;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordtype">bool</span> do_color_encoding_;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordtype">bool</span> cloud_with_color_;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <span class="keywordtype">bool</span> data_with_color_;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> point_color_offset_;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="comment">//bool activating statistics</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordtype">bool</span> b_show_statistics_;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        uint64_t compressed_point_data_len_;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        uint64_t compressed_color_data_len_;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="comment">// frame header identifier</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* frame_header_identifier_;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keyword">const</span> compression_Profiles_e selected_profile_;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> point_resolution_;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> octree_resolution_;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> color_bit_resolution_;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        std::size_t object_count_;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      };</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="comment">// define frame identifier</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafT, <span class="keyword">typename</span> BranchT, <span class="keyword">typename</span> OctreeT&gt;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">OctreePointCloudCompression&lt;PointT, LeafT, BranchT, OctreeT&gt;::frame_header_identifier_</a> = <span class="stringliteral">&quot;&lt;PCL-OCT-COMPRESSED&gt;&quot;</span>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;}</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_static_range_coder_html"><div class="ttname"><a href="classpcl_1_1_static_range_coder.html">pcl::StaticRangeCoder</a></div><div class="ttdoc">StaticRangeCoder compression class</div><div class="ttdef"><b>Definition:</b> entropy_range_coder.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html">pcl::io::OctreePointCloudCompression</a></div><div class="ttdoc">Octree pointcloud compression class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a210c9aa011e8797616c0548aa094612f"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a210c9aa011e8797616c0548aa094612f">pcl::io::OctreePointCloudCompression::color_coder_</a></div><div class="ttdeci">ColorCoding&lt; PointT &gt; color_coder_</div><div class="ttdoc">Color coding instance</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a60c04620fae807dbddd76895124a9eb5"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a60c04620fae807dbddd76895124a9eb5">pcl::io::OctreePointCloudCompression::point_count_data_vector_iterator_</a></div><div class="ttdeci">std::vector&lt; unsigned int &gt;::const_iterator point_count_data_vector_iterator_</div><div class="ttdoc">Interator on points per voxel vector</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a665e46fd9b12feb9b42e44d9275d3ee0"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a665e46fd9b12feb9b42e44d9275d3ee0">pcl::io::OctreePointCloudCompression::point_coder_</a></div><div class="ttdeci">PointCoding&lt; PointT &gt; point_coder_</div><div class="ttdoc">Point coding instance</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a666bcd6d5523a142041f8dab068014b3"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a666bcd6d5523a142041f8dab068014b3">pcl::io::OctreePointCloudCompression::~OctreePointCloudCompression</a></div><div class="ttdeci">virtual ~OctreePointCloudCompression()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a7e5b472065093162cae1062823732243"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a7e5b472065093162cae1062823732243">pcl::io::OctreePointCloudCompression::binary_color_tree_vector_</a></div><div class="ttdeci">std::vector&lt; char &gt; binary_color_tree_vector_</div><div class="ttdoc">Interator on binary tree structure vector</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:269</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a845ff8a27ce8f59b5d8ae73b0f2c1b74"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a845ff8a27ce8f59b5d8ae73b0f2c1b74">pcl::io::OctreePointCloudCompression::entropy_coder_</a></div><div class="ttdeci">StaticRangeCoder entropy_coder_</div><div class="ttdoc">Static range coder instance</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_a8c67c92f45645e9feaa9908b7a6854ef"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#a8c67c92f45645e9feaa9908b7a6854ef">pcl::io::OctreePointCloudCompression::setOutputCloud</a></div><div class="ttdeci">void setOutputCloud(const PointCloudPtr &amp;cloud_arg)</div><div class="ttdoc">Provide a pointer to the output data set.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_aa1d2c2bba05c7fab6e75d4cf2a45e33b"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aa1d2c2bba05c7fab6e75d4cf2a45e33b">pcl::io::OctreePointCloudCompression::getOutputCloud</a></div><div class="ttdeci">PointCloudPtr getOutputCloud() const</div><div class="ttdoc">Get a pointer to the output point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_aac470a2ddbd1f3ddaa4b6f5eeb399f61"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aac470a2ddbd1f3ddaa4b6f5eeb399f61">pcl::io::OctreePointCloudCompression::OctreePointCloudCompression</a></div><div class="ttdeci">OctreePointCloudCompression(compression_Profiles_e compressionProfile_arg=MED_RES_ONLINE_COMPRESSION_WITH_COLOR, bool showStatistics_arg=false, const double pointResolution_arg=0.001, const double octreeResolution_arg=0.01, bool doVoxelGridDownDownSampling_arg=false, const unsigned int iFrameRate_arg=30, bool doColorEncoding_arg=true, const unsigned char colorBitResolution_arg=6)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_aae26463a7465be923d0987a6ad284a2f"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aae26463a7465be923d0987a6ad284a2f">pcl::io::OctreePointCloudCompression::binary_tree_data_vector_</a></div><div class="ttdeci">std::vector&lt; char &gt; binary_tree_data_vector_</div><div class="ttdoc">Vector for storing binary tree structure</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_ab3343a4cfc17fb5c3bbf03553c3c62f4"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ab3343a4cfc17fb5c3bbf03553c3c62f4">pcl::io::OctreePointCloudCompression::initialization</a></div><div class="ttdeci">void initialization()</div><div class="ttdoc">Initialize globals</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_ac72607ca04e1885ab9bf65e7f3f49477"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#ac72607ca04e1885ab9bf65e7f3f49477">pcl::io::OctreePointCloudCompression::output_</a></div><div class="ttdeci">PointCloudPtr output_</div><div class="ttdoc">Pointer to output point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:263</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_aca78c8958023c1ae49b026eb0f5bcdf6"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#aca78c8958023c1ae49b026eb0f5bcdf6">pcl::io::OctreePointCloudCompression::point_count_data_vector_</a></div><div class="ttdeci">std::vector&lt; unsigned int &gt; point_count_data_vector_</div><div class="ttdoc">Vector for storing points per voxel information</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_octree_point_cloud_compression_html_af57e000fea506a493bcd7ead63b9e1ea"><div class="ttname"><a href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#af57e000fea506a493bcd7ead63b9e1ea">pcl::io::OctreePointCloudCompression::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int pointIdx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_compression.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_buffered_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_buffered_branch_node.html">pcl::octree::BufferedBranchNode</a></div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_color_coding_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_color_coding.html">pcl::octree::ColorCoding</a></div><div class="ttdoc">ColorCoding class</div><div class="ttdef"><b>Definition:</b> color_coding.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a></div><div class="ttdoc">Octree double buffer class</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_container_empty_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_container_empty.html">pcl::octree::OctreeContainerEmpty</a></div><div class="ttdoc">Octree container class that does not store any information.</div><div class="ttdef"><b>Definition:</b> octree_container.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_container_point_indices_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_container_point_indices.html">pcl::octree::OctreeContainerPointIndices</a></div><div class="ttdoc">Octree container class that does store a vector of point indices.</div><div class="ttdef"><b>Definition:</b> octree_container.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8a1dcd695db20c10dd2ca049b3e6851e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:556</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a></div><div class="ttdoc">PointCoding class</div><div class="ttdef"><b>Definition:</b> point_coding.h:60</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1configuration_profile__t_html"><div class="ttname"><a href="structpcl_1_1io_1_1configuration_profile__t.html">pcl::io::configurationProfile_t</a></div><div class="ttdef"><b>Definition:</b> compression_profiles.h:71</div></div>
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